A method for monitoring and correcting yaw angle anomalies

Abstract

This disclosure provides a method for monitoring and correcting yaw angle anomalies, comprising the following steps: obtaining the angle α0 between the nacelle zero degree and true north, where nacelle zero degree is a preset initial angle for the nacelle; calculating the absolute position angle β of the nacelle based on the yaw position angle θ of the crew and the nacelle zero degree angle α0; uploading the absolute position angle β of the nacelle to the station monitoring system and generating the station's absolute position reference value β. ref Real-time monitoring of the cabin's absolute position angle β and absolute position reference value β ref deviation value β dif And using the station's absolute position reference value β ref Adjusting the nacelle position. The system uses a yaw control program to perform the unmooring function, ensuring the continuity and safety of the nacelle rotation. This method overcomes the time delay problem caused by offline determination in existing technologies, significantly improves the response speed and operational stability of wind turbines, reduces equipment failure rates, extends the service life of wind turbines, and further enhances the overall power generation performance of wind farms.

Description

Technical Field

[0001] This invention relates to the field of wind power control, and in particular to a method for monitoring and correcting abnormal yaw angles. Background Technology

[0002] The yaw system is an important component of wind turbines. Its main function is to enable the nacelle to automatically rotate to face the wind when the angle between the wind direction collected by the wind direction sensor and the nacelle position exceeds a set value. This ensures that the blades' windward side is accurately aligned with the wind direction, thereby maximizing the capture of wind energy.

[0003] The yaw control relies on the wind direction angle provided by the anemometer. Inaccurate wind direction will result in an incorrect yaw angle, preventing the wind turbine from maximizing wind energy capture and leading to poor power generation performance. Anemometers, whether ultrasonic or mechanical, are susceptible to installation errors and inherent equipment malfunctions, all of which affect the yaw angle. Therefore, timely calibration of the yaw angle is essential.

[0004] Currently, many manufacturers use historical data from the power station to make offline judgments on yaw angle correction errors. Online judgments involve a large amount of data that the PLC itself cannot complete. Offline judgments also have a certain time delay. Generally, offline judgments and corrections are only performed after the generator's power generation is found to be abnormally low.

[0005] This invention designs a method for monitoring and correcting abnormal yaw angles, which mainly increases the data interaction between the unit and the SCADA backend regarding the absolute position of the nacelle (the angle between the nacelle and due north). The absolute position is used to determine whether the current yaw angle is abnormal, and an alarm is triggered in time when an abnormality is detected. When the wind speed and direction instrument fails, the nacelle position can be adjusted using the reference value of the absolute yaw position. Summary of the Invention

[0006] The first aspect of this disclosure provides a method for monitoring and correcting anomalies in yaw angle against the wind, comprising the following steps:

[0007] Obtain the angle between zero degrees in the cabin and true north. Zero degrees in the cabin is the preset initial angle of the cabin;

[0008] Based on the yaw position angle of the crew zero-degree angle with the cabin Absolute position angle of computer compartment ;

[0009] Upload absolute position angle of the cabin The data is transmitted to the site monitoring system, and the absolute position reference value of the site is generated. ;

[0010] Real-time monitoring of the absolute position and angle of the cabin Compared with absolute position reference value deviation value And using the station's absolute position reference value Adjust the cabin position.

[0011] In conjunction with the first aspect, the angle between zero degrees in the cabin and true north is obtained. The method includes the following steps:

[0012] Install an electronic compass inside the cabin and manually yaw the cabin to zero degrees.

[0013] The pointer direction of the electronic compass is calibrated to be parallel to the direction of the cabin nose, and the electronic compass output value of the angle between the cabin nose and true north is obtained;

[0014] This value is stored through the PLC analog signal channel, and positive is defined as north of east and negative as north of west. After filtering, the angle between zero degrees and true north of the engine room is determined. .

[0015] In conjunction with the first aspect, the absolute position angle of the computer cabin The method includes the following steps:

[0016] According to the cabin yaw position angle defined in the crew yaw control procedure The positive and negative directions are determined using the following formula for the absolute position angle of the computer module. :

[0017] When -(180°+ )< <(180°- )hour, = + ;

[0018] When -540° < <-(180°+ )hour, = + +360;

[0019] When (180°- )< When <540°, = + -360;

[0020] when <-540° or When the angle is >540°, determine whether the cabin moorings have been released. If they have not been released, it is considered an anomaly.

[0021] In conjunction with the first aspect, the absolute position reference value of the generated station The method includes the following steps:

[0022] Upload the absolute position and angle of the nacelle of all wind turbines at the site. Summarize the values;

[0023] Using filtering algorithms and averaging, absolute position reference values ​​for the station are generated. ;

[0024] If the wind farm is equipped with a wind measurement tower, the wind direction data provided by the wind measurement tower will be used as... Reference values ​​were then distributed to each generating unit.

[0025] In conjunction with the first aspect, the real-time monitoring deviation value The methods include:

[0026] Absolute position angle of computer compartment Compared with absolute position reference value The difference ;

[0027] like If the deviation exceeds the set limit, an alarm will be triggered and abnormal data will be recorded.

[0028] In conjunction with the first aspect, the method also includes correcting the angle between zero degrees in the cabin and true north. Specifically, it includes:

[0029] Each time the cabin position passes zero, the current cabin angle is detected. ;

[0030] If the current Values ​​and records If the value deviation exceeds the set threshold, the current value will be... Value Assignment To complete the calibration.

[0031] A second aspect of this disclosure provides an electronic device, comprising:

[0032] One or more processors;

[0033] A storage unit is used to store one or more programs, which, when executed by one or more processors, enable the one or more processors to implement the method for monitoring and correcting anomalies in wind angle.

[0034] A third aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, can implement the method for monitoring and correcting yaw angle anomalies.

[0035] Beneficial Effects: This invention provides a method for monitoring and correcting abnormal yaw angles against the wind. It can monitor the deviation between the absolute position of the nacelle and the wind direction in real time, promptly detect and correct abnormal yaw angles against the wind, and avoid decreased power generation efficiency due to wind vane failure or data errors. Simultaneously, the system implements a cable unwinding function through a yaw control program, ensuring the continuity and safety of the nacelle rotation. This method overcomes the time delay problem caused by offline judgment in existing technologies, significantly improves the response speed and operational stability of wind turbine units, reduces equipment failure rates, extends the service life of wind turbines, and further enhances the overall power generation performance of wind farms. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating a method for monitoring and correcting abnormal yaw angles according to an embodiment of this disclosure.

[0037] Figure 2 This is a schematic diagram of the cabin yaw angle according to an embodiment of the present disclosure;

[0038] Figure 3 An electronic device according to an embodiment of this disclosure. Detailed Implementation

[0039] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those disclosed herein.

[0040] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0041] It should be understood that although the terms first, second, third, etc., may be used to describe various information in embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of embodiments of this disclosure, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0042] like Figure 1The diagram shown is a flowchart illustrating a method for monitoring and correcting yaw angle anomalies according to an embodiment of this disclosure, including:

[0043] S101: Obtain the angle between zero degrees in the cabin and true north. Zero degrees in the cabin is the preset initial angle of the cabin.

[0044] Specifically, nacelle zero degree is the initial angle of the nacelle and serves as the reference point for calculating all yaw angles. By installing an electronic compass in the nacelle, the nacelle is rotated to a preset zero position (usually parallel to the blades), and the angle between the nacelle nose direction and true north is recorded. .

[0045] Because the installation location and orientation of wind turbines may vary, the angle of zero degrees of the nacelle relative to true north will differ. It can also vary depending on site conditions, which requires calibration and recording during installation.

[0046] Optionally, to improve measurement accuracy, the electronic compass data can be sampled multiple times, and a filtering algorithm can be used to eliminate short-term fluctuation interference, ensuring accuracy. Stability and accuracy.

[0047] S102: Based on the crew's yaw position angle zero-degree angle with the cabin Absolute position angle of computer compartment .

[0048] Specifically, yaw position angle It is the offset relative to zero degrees in the cabin, which is converted into the absolute position angle of the cabin relative to true north using a formula. The formula is as follows:

[0049] When -(180°+ )< <(180°- )hour, = + ;

[0050] When -540° < <-(180°+ )hour, = + +360;

[0051] When (180°- )< When <540°, = + -360;

[0052] Different manufacturers may define the positive and negative directions of the yaw control logic differently, so the compatibility of the positive and negative directions needs to be considered in the calculation formula.

[0053] During operation, the yaw angle calculation can be combined with the automatic unmooring logic of the cabin position. When the cumulative yaw angle exceeds the set range (such as ±540°), the automatic unmooring function is triggered to ensure the continuity of angle calculation and the safety of unit operation.

[0054] S103: Upload absolute position and angle of the cabin The data is transmitted to the site monitoring system, and the absolute position reference value of the site is generated. .

[0055] Specifically, each crew will calculate the absolute position angle of the cabin. Real-time uploads are made to the site monitoring and control system (SCADA). The SCADA system monitors all units. The values ​​are aggregated, filtered, and averaged to generate a station-level reference value. It serves as a benchmark for the overall wind direction of the wind farm.

[0056] If a wind measurement tower is installed at the site, the wind direction data provided by the tower can be used as a supplementary reference, in conjunction with the data generated by SCADA. By making comparisons, the reliability of the wind direction benchmark can be further improved.

[0057] Station Reference Values It can also be used for wind direction trend analysis, operational status optimization, and inter-unit coordinated control at the station level. For example, in certain special circumstances (such as the failure of some anemometers). It can be sent to the generator unit as alternative data.

[0058] S104: Real-time monitoring of the absolute position and angle of the cabin Compared with absolute position reference value deviation value And using the station's absolute position reference value Adjust the cabin position.

[0059] Specifically, by calculating the real-time absolute position angle of the cabin Compared with the station reference value deviation value Determine if the cabin is aligned with the wind direction:

[0060] For example, if If the cabin is within the set range (e.g., ±2°), then the cabin's windward position is considered normal.

[0061] For example, if If the setting range is exceeded, an alarm will be triggered or the cabin position will be adjusted directly.

[0062] When the anemometer malfunctions or displays abnormal data, the absolute position reference value of the station will be... It can replace the original data, guide the yaw operation of the engine room, and avoid the decline in power generation efficiency caused by wind vane problems.

[0063] Optionally, to improve wind accuracy, the reference value at the site can be... Based on this, and combined with meteorological forecast data or wind direction data from nearby stations, a dynamic correction model is established to make the yaw system more intelligent. Furthermore, this real-time monitoring logic can be integrated with the wind turbine fault diagnosis system to provide early warnings of potential wind vane malfunctions or abnormal wind turbine operation.

[0064] Beneficial effects: Through the logical connection of the above steps, real-time judgment and correction of abnormal yaw angles can be achieved. The overall process not only improves the operating efficiency of wind turbines but also enhances the intelligence and stability of the system, providing reliable technical support for the operation and management of wind farms.

[0065] Furthermore, the angle between zero degrees in the cabin and true north is obtained. The method includes the following steps:

[0066] Install an electronic compass inside the cabin and manually yaw the cabin to zero degrees.

[0067] The pointer direction of the electronic compass is calibrated to be parallel to the direction of the cabin nose, and the electronic compass output value of the angle between the cabin nose and true north is obtained;

[0068] This value is stored through the PLC analog signal channel, and positive is defined as north of east and negative as north of west. After filtering, the angle between zero degrees and true north of the engine room is determined. .

[0069] Specifically, first, an electronic compass is installed inside the cabin. This compass measures the angle between the cabin's nose and true north. Next, the operators manually adjust the cabin to ensure its zero-degree position aligns with a preset reference angle. Manually yawing to the zero-degree position provides a known reference point for subsequent angle calculations.

[0070] Nacelle zero-degree typically refers to the initial position of the nacelle, parallel to the direction of the wind turbine blades. In this step, the nacelle's position is manually adjusted so that the electronic compass measures an accurate reference angle.

[0071] To ensure accurate zero-degree positioning of the cabin, verification can be performed through multiple manual yaw measurements to avoid affecting the accuracy of subsequent data due to errors from a single adjustment. During installation, an electronic compass with high horizontal and vertical accuracy can be selected to ensure the reliability of angle measurement results.

[0072] After the electronic compass is installed, it needs to be calibrated to ensure that its output accurately reflects the angle between the cabin nose and true north. During this process, ensure that the pointer of the electronic compass is parallel to the direction of the cabin nose so that the electronic compass can accurately measure the angle between the cabin nose and true north.

[0073] Calibration of the electronic compass is crucial for subsequent angle measurements. If the compass is not properly calibrated, systematic errors will occur in the measured angles, causing the yaw system to deviate from its intended direction. During calibration, it is essential to ensure that the electronic compass is installed in the same direction as the nose of the aircraft and is free from external magnetic field interference.

[0074] During wind turbine operation, electronic compasses may be subject to magnetic field interference (such as the influence of other electrical equipment within the nacelle). Therefore, calibration should be performed under conditions free from external interference, and the accuracy of the electronic compass should be checked periodically. If deviations occur, recalibration may be necessary.

[0075] The angle value (i.e., the angle between the cabin nose and true north) measured by an electronic compass is stored through the analog channel of a PLC (Programmable Logic Controller). This process ensures that the angle value can be digitized and further used for yaw angle calculation. According to specifications, north-northeast is defined as positive and north-northwest as negative, thus providing standardized angle values ​​for subsequent yaw angle calculations. The measured raw angle data also needs to be filtered to remove instantaneous fluctuations and noise, ensuring that the obtained cabin zero-degree angle between the cabin nose and true north has high stability and accuracy.

[0076] The PLC is a core component of control and automation systems. In this step, the PLC is responsible for receiving the analog signal output from the electronic compass, converting it into a digital signal, and storing it. Through filtering, data fluctuations caused by factors such as electronic equipment fluctuations and changes in the external environment can be removed.

[0077] Filtering can be performed in various ways, such as moving average and Kalman filtering. These methods can effectively reduce errors and improve the accuracy of angle measurements. Simultaneously, real-time monitoring can be added to the PLC program to check the stored data, ensuring the stability and reliability of data acquisition.

[0078] Beneficial effects: Through the above steps, the system can accurately obtain the angle between the nacelle's zero-degree angle and true north, and digitally store it in the PLC, providing a precise reference for subsequent yaw angle calculations. The calibration and filtering process ensures that the nacelle's zero-degree angle remains highly accurate throughout the entire operation, which helps improve the accuracy of the yaw system and ultimately enhances the wind turbine's power generation efficiency and stability.

[0079] Furthermore, the absolute position angle of the computer cabin The method includes the following steps:

[0080] According to the cabin yaw position angle defined in the crew yaw control procedure The positive and negative directions are determined using the following formula for the absolute position angle of the computer module. :

[0081] When -(180°+ )< <(180°- )hour, = + ;

[0082] When -540° < <-(180°+ )hour, = + +360;

[0083] When (180°- )< When <540°, = + -360;

[0084] when <-540° or When the angle is >540°, determine whether the cabin moorings have been released. If they have not been released, it is considered an anomaly.

[0085] Specifically, the yaw position angle of the cabin This is the position angle relative to zero degrees in the cabin, and its sign is usually defined in the yaw control procedure by clockwise or counterclockwise rotation. To ensure the yaw angle... Zero degrees in the cabin The relationship is correct. This step first requires clarifying the definition of the cabin yaw angle in the procedure. For example, clockwise rotation is a positive angle, and counterclockwise rotation is a negative angle.

[0086] For the control system of a wind turbine, yaw angle The definition is very important because it directly affects the absolute position angle of the computer cabin. The accuracy of the calculations is paramount. Standardized definitions are fundamental to ensuring system consistency and computational accuracy.

[0087] In some special circumstances, the yaw angle of the unit may be affected by factors such as wind fluctuations and nacelle structural offsets, requiring regular correction and verification of the defined direction of the yaw angle to prevent long-term error accumulation.

[0088] Based on the yaw position angle of the unit The angle between zero degrees in the cabin and due north The absolute position angle of the computer cabin is calculated using the following formula. The formula takes into account Different ranges, and the correct absolute position angle of the cabin is obtained by correcting the formula.

[0089] When -(180°+ )< <(180°- )hour, = + ;

[0090] This range represents the yaw angle. The absolute position angle of the cabin in the range near zero degrees. By Zero-degree angle with the cabin The values ​​are added together to obtain the result. At this point, the change in the cabin's position and angle is relatively small, making the calculation of the absolute position straightforward.

[0091] This formula applies to yaw angles. Under normal circumstances, this usually occurs when the wind turbine is in its normal operating state and the yaw angle does not deviate too much.

[0092] In this formula The angle between zero degrees in the cabin and true north serves as a reference in this calculation, therefore its accuracy is crucial to the final result. If Errors may exist, which could lead to inaccurate calculations of the absolute position and angle of the entire system.

[0093] When -540° < <-(180°+ )hour, = + +360;

[0094] This range represents the cabin yaw angle. The value has already deviated to the negative direction and exceeded a certain range. Therefore, the calculation needs to be corrected by adding 360 degrees. Adding 360 degrees is to ensure the absolute position angle. It maintains its standard angular range within the range of -360° to +360°.

[0095] This formula applies to situations where the cabin rotates counterclockwise by more than 180 degrees, in which case the yaw angle... It has returned to the negative direction. By adding 360 degrees, we ensure the calculation results are normalized.

[0096] The formula for converting the yaw angle of a wind turbine needs to be flexible enough to handle different yaw angle ranges, especially when the yaw system changes frequently. If there are errors in the yaw system or the execution is inaccurate, it may lead to deviations in the calculation of such formulas.

[0097] When (180°- )< When <540°, = + -360;

[0098] This range represents the cabin yaw angle. If the angle has deviated to the positive direction and exceeded a certain range, the deviation needs to be corrected by subtracting 360 degrees during calculation. This is also to ensure the absolute position angle. Within the standard range.

[0099] This formula applies to cases where the cabin rotates more than 180 degrees clockwise. By subtracting 360 degrees, the calculation result is ensured to conform to the standard angle range.

[0100] This correction method can also be used in other systems, especially when angle transformation and normalization are required. Ensuring the stability and consistency of calculation results is a crucial step in all mechanical control systems.

[0101] when <-540° or When the angle is >540°, determine whether the cabin has been untied;

[0102] At this point, the yaw angle This exceeds the standard range (-540° to 540°), which usually indicates a significant yaw deviation in the cabin and may be in an abnormal state. It is necessary to determine whether the cabin has been unmoored.

[0103] Unwinding refers to the process by which the connections between the engine room and other parts (such as cables, mechanical connections, etc.) become loose or disconnected. This is usually caused by excessive yaw angles or operational errors. When unwinding occurs in the engine room, it may cause the yaw system to malfunction, and immediate action must be taken.

[0104] The unmooring monitoring system requires high-precision sensors to detect the unmooring status of the nacelle, ensuring that the wind turbine's yaw system does not continue to operate in the event of a serious problem. This type of detection is typically accomplished through sensor signals or visual monitoring to ensure timely alerts.

[0105] Beneficial effect: (This likely refers to the effect of adjusting the yaw angle of the cabin.) and the angle between zero degrees in the cabin and due north Detailed calculations of the relationship between them yielded the absolute position angle of the cabin. This method can accurately determine the actual position of the wind turbine, ensuring that the yaw system can correctly adjust the nacelle's direction. Simultaneously, combined with yaw angle correction and mooring release checks, the system can effectively prevent yaw failures and improve the operational stability and efficiency of the wind turbine.

[0106] Furthermore, the absolute position reference value of the generated station The method includes the following steps:

[0107] Upload the absolute position and angle of the nacelle of all wind turbines at the site. Summarize the values;

[0108] Using filtering algorithms and averaging, absolute position reference values ​​for the station are generated. ;

[0109] If the wind farm is equipped with a wind measurement tower, the wind direction data provided by the wind measurement tower will be used as... Reference values ​​were then distributed to each generating unit.

[0110] Specifically, firstly, it is necessary to upload the absolute position and angle of the nacelle from all wind turbines in the site. Collect these values. For each unit, calculate its absolute position angle relative to true north based on its real-time yaw position. Summarize these angle values ​​to obtain the position status of each unit within the airfield.

[0111] This aggregation step is necessary because the position and angle of each unit will change in real time during operation, and these changes may be related to wind speed, wind direction, or the unit's yaw status. By aggregating the data from all units, the overall site status can be obtained.

[0112] This step can also improve processing efficiency through certain data compression or optimization algorithms, especially when the site is large. If there are many units in the site, real-time processing and storage of this data can become challenging, thus requiring an efficient data transmission and storage system.

[0113] Once the unit uploads Once the data aggregation is complete, filtering algorithms can be used to process it. The purpose of filtering is to remove outliers and noise, ensuring the accuracy and stability of the generated reference values. Then, a mean averaging method is used to process the remaining valid data to generate the absolute position reference values ​​for the station. .

[0114] Filtering algorithms can effectively remove deviations caused by measurement errors, wind speed fluctuations, and other factors, thereby improving data quality. Mean processing, on the other hand, involves analyzing data from multiple units... The average value is used to generate a more representative reference value, reducing the impact of errors that may occur in a single unit.

[0115] In practical applications, different types of filtering algorithms can be selected based on the needs of the power station. For example, a weighted filtering algorithm can be used, in which more stable or reliable unit data is given higher weight; or a Kalman filtering algorithm can be used to perform dynamic estimation by combining historical data. These techniques can improve the accuracy and real-time performance of reference values.

[0116] If a wind farm has a meteorological tower installed, the wind direction data provided by the tower can serve as a more stable and reliable reference value. Wind direction data is generally more representative of the overall wind direction characteristics of the farm than the yaw angle of a single turbine, and therefore can be used to generate absolute position reference values ​​for the farm. This wind direction data will be sent to each unit to adjust their yaw angle in real time.

[0117] Wind measurement towers are a common facility in wind farms, used to monitor wind speed and direction in real time. Using wind direction data from wind measurement towers as a reference value avoids inconsistencies across the entire field caused by sensor malfunctions or deviations in individual turbines. Wind direction data is generally quite stable and therefore has high reference value.

[0118] This method can further improve the robustness and stability of the system, especially when the wind farm is large or has many turbines. Wind direction data from the meteorological towers can provide a unified benchmark for each turbine, thereby reducing local yaw errors caused by local climate changes or other factors.

[0119] Beneficial effect: The absolute position and angle of the nacelle uploaded by the wind farm units at the wind farm site. By summarizing and processing the values, the absolute position reference value of the station can be generated. This reference value not only reflects the yaw status of each unit within the station, but its stability and accuracy can also be improved through filtering and averaging. If the station is equipped with a wind measurement tower, the wind direction data from the tower can be used as a reference, thereby further improving the accuracy and robustness of the overall yaw control system. Ultimately, the generated... The values ​​are distributed to each unit for real-time adjustment and correction of the nacelle position, ensuring that the wind turbines can capture wind energy to the maximum extent.

[0120] Furthermore, the real-time monitoring deviation value The methods include:

[0121] Absolute position angle of computer compartment Compared with absolute position reference value The difference ;

[0122] like If the deviation exceeds the set limit, an alarm will be triggered and abnormal data will be recorded.

[0123] Specifically, it is necessary to obtain the absolute position angle of the current generator unit. This is the wind turbine location data calculated and uploaded in real time by the turbine unit. Next, the absolute position reference value of the wind farm is obtained. As mentioned earlier, this can be achieved by aggregating and processing the absolute position angles of the nacelles of each unit (or using meteorological tower data). Then, through calculation... and The difference The magnitude of the deviation is then determined.

[0124] This indicates the error between the current cabin position angle and the station reference value, reflecting whether the crew's yaw control system is functioning correctly. If... An excessively large value indicates that the unit may not be correctly aligned with the wind direction, which could be due to a faulty wind direction sensor, a failure of the unit's yaw control, or other reasons.

[0125] Difference It can be calculated using the following formula:

[0126] The absolute value of the deviation is used to ensure that the deviation value is positive, thus avoiding the influence of the direction of the negative deviation on alarm triggering.

[0127] When the calculated deviation value When the pre-set deviation limit is exceeded, the system will trigger an alarm, alerting operators or maintenance personnel that the unit has an abnormal yaw. This deviation limit is set according to the normal operating range of the wind turbine and is usually adjusted by the manufacturer or operator based on the unit's operating characteristics and wind speed conditions. The alarm system can alert operators in various ways, such as through SCADA system displays, email notifications, SMS messages, and audible and visual alarms.

[0128] Setting deviation limits is crucial. Setting limits too low can lead to frequent alarms, disrupting normal operations; while setting limits too high may prevent timely detection of yaw anomalies. Therefore, deviation limits should be precisely set based on the wind turbine's operating environment, the wind farm's climate conditions, and the turbine's performance characteristics.

[0129] When setting deviation limits, the unit's technical specifications and historical data can be referenced, taking into account the wind farm's climate variations. For example, in environments with low wind speeds or significant wind direction changes, the deviation limits should be appropriately increased to avoid triggering alarms due to minor deviations. In extreme wind conditions, the deviation values ​​may be large, but this does not necessarily indicate a problem with the yaw control system. Therefore, deviation limits can be adjusted based on actual operating experience and environmental conditions, and can even be dynamically adjusted according to different seasons or weather conditions.

[0130] When the system triggers an alarm, it is also necessary to record the specific data of the anomaly, such as the absolute position and angle of the cabin. Reference values Deviation value This data, including alarm times, will provide a basis for subsequent troubleshooting and analysis, and can also serve as a basis for assessing the health status and operating efficiency of wind turbine units.

[0131] Recording abnormal data helps maintenance personnel quickly identify the cause when yaw anomalies occur. The recorded data can be stored in a SCADA system or other data management system and can be compared and analyzed with historical data. Through the long-term accumulation of abnormal records, operators can identify potential problems, optimize yaw control strategies, or provide effective references during maintenance.

[0132] Regarding data recording methods, consider timestampting abnormal data and combining it with historical data for trend analysis to identify potential systemic problems or equipment aging. By incorporating machine learning algorithms, after accumulating large amounts of data, abnormal patterns can be automatically identified, potential failures can be predicted in advance, and the system's intelligence level can be improved.

[0133] Beneficial effects: Real-time monitoring of the absolute position and angle of the cabin Reference value of absolute position of the station deviation value This method can promptly detect yaw anomalies in wind turbines. By setting deviation limits, an alarm is triggered and abnormal data is recorded once the deviation exceeds the set range. This real-time monitoring mechanism helps operators respond promptly, adjust or repair the yaw system, ensure that the wind turbine can effectively capture wind energy, and avoid a decrease in power generation efficiency due to yaw control failure.

[0134] Furthermore, the method also includes correcting the angle between zero degree in the cabin and true north. Specifically, it includes:

[0135] Each time the cabin position passes zero, the current cabin angle is detected. ;

[0136] If the current Values ​​and records If the value deviation exceeds the set threshold, the current value will be... Value Assignment To complete the calibration.

[0137] Specifically, during cabin movement, the zero point refers to a reference point where the cabin's position angle is 0° (i.e., the cabin nose is facing due north). Each time the cabin passes this zero point, the system records the current cabin angle. This angle is obtained in real time through an installed electronic compass or other positioning device, and it represents the cabin's current actual orientation.

[0138] This operation typically occurs each time the nacelle rotates to its zero-degree position. Zero degree is the preset initial angle of the nacelle relative to true north, which is the standard position where the nose of the nacelle faces true north when the nacelle is in normal operating condition.

[0139] To improve accuracy, it is recommended that each time the cabin passes through zero, not only the current angle be recorded. It can also record timestamps and environmental parameters (such as wind speed and wind direction) to further analyze the stability during the calibration process.

[0140] The key to the correction mechanism is to ensure that the angle between zero degrees in the cabin and true north is accurate. Always maintain within a reasonable range. If the currently detected angle The recorded zero-degree angle of the cabin If the deviation exceeds the preset threshold, it means that the zero-degree position of the cabin has shifted, which may be due to mechanical errors, sensor drift, or changes in the external environment.

[0141] This correction measure, which addresses deviations exceeding a set threshold, ensures the nacelle's accuracy. Setting a reasonable threshold is crucial. If the threshold is too small, it may lead to frequent corrections, increasing the system load; conversely, if the threshold is too large, deviations may not be corrected in a timely manner, affecting the nacelle's accuracy in responding to wind. Therefore, the threshold selection should be based on the wind turbine's operating environment and user experience, ensuring that the correction process is effective without introducing excessive interference.

[0142] To improve calibration accuracy, more calibration parameters can be incorporated into the system design, such as nacelle vibration data or temperature variations, as these factors can also cause sensor errors or angle shifts. Furthermore, dynamically adjustable thresholds can be designed to automatically optimize the calibration thresholds based on different wind conditions, wind turbine operating status, and historical nacelle data.

[0143] Beneficial effect: By detecting the current angle each time the cabin passes zero, and the recorded zero-degree angle of the cabin The system compares the angles to ensure accuracy between zero degrees and true north. If the deviation exceeds a set threshold, the system will automatically adjust the current angle. Assign a value to the zero-degree angle of the cabin This correction mechanism effectively prevents nacelle angle deviation, ensures the accuracy of the yaw system during wind turbine operation, improves wind energy capture efficiency, and ensures stable power generation performance of the unit.

[0144] Electronic device 300 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 300 may include, but is not limited to, processor 301 and memory 302. Those skilled in the art will understand that... Figure 3 This is merely an example of electronic device 300 and does not constitute a limitation on electronic device 300. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device may also include input / output devices, network access devices, buses, etc.

[0145] Processor 301 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0146] The memory 302 can be an internal storage unit of the electronic device 300, such as a hard disk or RAM of the electronic device 300. The memory 302 can also be an external storage device of the electronic device 300, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the electronic device 300. Furthermore, the memory 302 can include both internal and external storage units of the electronic device 300. The memory 302 is used to store the computer program 303 and other programs and data required by the electronic device. The memory 302 can also be used to temporarily store data that has been output or will be output.

[0147] In the embodiments provided in this disclosure, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0148] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in a computer-readable medium may be appropriately added to or subtracted according to the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0149] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be included within the protection scope of this disclosure.

Claims

1. A method for monitoring and correcting anomalies in yaw angle against wind, characterized in that, Includes the following steps: Obtain the angle between zero degrees in the cabin and true north. The cabin zero-degree angle is the preset initial angle of the cabin. Specifically, this involves: installing an electronic compass inside the cabin; manually yawing the cabin to the cabin zero-degree position; calibrating the electronic compass pointer to be parallel to the cabin's heading; obtaining the electronic compass output value representing the angle between the cabin's heading and true north; storing this value through the PLC analog signal channel; defining north-east as positive and north-west as negative; and determining the angle between cabin zero-degree and true north after filtering. ; Based on the yaw position angle of the unit zero-degree angle with the cabin Absolute position angle of computer compartment This includes the following steps: Based on the cabin yaw position angle defined in the crew yaw control procedure... The positive and negative directions are determined using the following formula for the absolute position angle of the computer cabin. When -(180°+) )< <(180°- )hour = + When -540° < <-(180°+ )hour = + +360°, when (180°- )< <540° = + -360°, when <-540° or When the angle is >540°, determine whether the cabin moorings have been released. If the moorings have not been released, it is considered an anomaly. Upload absolute position angle of the cabin The data is transmitted to the site monitoring system, and the absolute position reference value of the site is generated. This includes the following steps: uploading the absolute position and angle of the nacelle of all wind turbine units at the site. The values ​​are aggregated, and then filtered and averaged to generate absolute position reference values ​​for the station. If the wind farm is equipped with a wind measurement tower, the wind direction data provided by the wind measurement tower will be used as... Reference values ​​were then distributed to each generating unit. Real-time monitoring of the absolute position and angle of the cabin Compared with absolute position reference value deviation value And using the station's absolute position reference value Adjust the cabin position, including: the absolute position and angle of the computer bay. Compared with absolute position reference value The difference ,like If the deviation exceeds the set limit, an alarm will be triggered and abnormal data will be recorded; The method also includes correcting the angle between zero degree and true north in the cabin. Specifically, this includes: detecting the current cabin angle each time the cabin position passes zero. If the current Values ​​and records If the value deviation exceeds the set threshold, the current value will be... Value Assignment To complete the calibration.

2. An electronic device, characterized in that, include: One or more processors; A storage unit is used to store one or more programs, which, when executed by one or more processors, enable the one or more processors to implement the yaw angle anomaly monitoring and correction method according to claim 1.

3. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it can realize the method for monitoring and correcting abnormal yaw angles according to claim 1.

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